Systems and method of servicing a turbomachine

ABSTRACT

A system for use in servicing a turbomachine, the system including a first tubular body including an interior channel, and a second tubular body. The first and second tubular bodies are bendable between a neutral shape and a biased shape. The bodies are bent when in the neutral shape. The second tubular body includes a tip end, and the second tubular body is translatable within the interior channel. The first tubular body and the second tubular body are rotatable to selectively orient the tip end in multiple degrees of freedom. The system also includes a steering cable extending from the tip end, wherein the steering cable biases the tip end for selective orientation in additional degrees of freedom.

BACKGROUND

The field of the disclosure relates generally to turbomachinemaintenance and, more particularly, to systems and a method for use inperforming maintenance within a confined space of a turbomachine.

At least some known turbine engines include an outer case and at leastone rotor that includes multiple stages of rotating airfoils, i.e.,blades, which rotate with respect to the outer case. In addition, theouter case includes multiple stages of stationary airfoils, i.e., guidevanes. The blades and guide vanes are arranged in alternating stages. Inat least some known rotary machines, shrouds are disposed on theradially inner surfaces of a stator to form a ring seal around tips ofthe blades. Together, the blades, guide vanes, and shrouds define aprimary flowpath inside the compressor and turbine sections of therotary machine. This flowpath, combined with a flowpath through thecombustor, defines a primary cavity within the turbine engine.

During operation, the components of the turbine engine experience atleast some material degradation as a function of the components' servicehistory. Accordingly, for at least some known turbine engines, periodicinspections, such as borescope inspections, are performed to assess thecondition of the turbine engine between service intervals. However, itmay be difficult to inspect certain regions within the turbine enginewith conventional borescope inspection techniques. As an alternative toconducting borescope inspections, at least some known turbine enginesare at least partially disassembled from an airframe and moved to afacility to allow repair and/or replacement of damaged components atregularly scheduled service intervals. For example, damaged componentsthe turbine engines are primarily repaired at overhaul or componentrepair facilities that are offsite from a location of the airframe.However, disassembling turbine engines for regular service andinspection is a costly and time-consuming endeavor.

BRIEF DESCRIPTION

In one aspect, a system for use in servicing a turbomachine is provided.The system includes a first tubular body including an interior channel.The first tubular body is bendable between a neutral shape or a biasedshape, with the first tubular body being bent when in the neutral shape.A second tubular body includes a tip end, wherein the second tubularbody is translatable within the interior channel. The second tubularbody is bendable between a neutral shape and a biased shape, with thesecond tubular body being bent when in the neutral shape. The firsttubular body and the second tubular body are rotatable to selectivelyorient the tip end in multiple degrees of freedom. The system alsoincludes a steering cable extending from the tip end, wherein thesteering cable is configured to bias the tip end for selectiveorientation in additional degrees of freedom.

In another aspect, a system for use in servicing a turbomachine isprovided. The system includes a guide tube including an interior, and atubular assembly sized for insertion within, and deployable from, theinterior of the guide tube. The tubular assembly includes a firsttubular body including an interior channel, and the first tubular bodyis bendable between a neutral shape or a biased shape, with the firsttubular body being bent when in the neutral shape. A second tubular bodyof the tubular assembly includes a tip end. The second tubular body istranslatable within the interior channel, and is bendable between aneutral shape and a biased shape, with the second tubular body beingbent when in the neutral shape. The first tubular body and the secondtubular body are rotatable to selectively orient the tip end in multipledegrees of freedom. The system also includes a steering cable extendingfrom the tip end, wherein the steering cable is configured to bias thetip end for selective orientation in additional degrees of freedom, anda payload coupled to the tip end.

In yet another aspect, a method of servicing a turbomachine is provided.The method includes disassembling the turbomachine to provide access toa confined space within the turbomachine, wherein the confined spaceincludes a maintenance location. The method also includes positioning atubular assembly within the confined space, the tubular assemblyincluding a first tubular body having an interior channel, and the firsttubular body being bent when in a neutral shape. A second tubular bodyof the tubular assembly has a tip end, wherein the second tubular bodyis translatable within the interior channel, and the second tubular bodybeing bent when in a neutral shape. A payload is coupled to the tip end.The method also includes rotating at least one of the first tubular bodyand the second tubular body to selectively orient the tip end inmultiple degrees of freedom to position the payload proximate themaintenance location, biasing, with a steering cable, the tip end forselective orientation in additional degrees of freedom to position thepayload proximate the maintenance location, and performing an operationat the maintenance location with the payload.

DRAWINGS

These and other features, aspects, and advantages of the presentdisclosure will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a schematic illustration of an exemplary turbomachine;

FIG. 2 is a box diagram illustrating an exemplary turbomachine andsystem that may be used to deliver a payload within the turbomachine;

FIG. 3 is a perspective illustration of the system shown in FIG. 2;

FIG. 4 is an enlarged view of a portion of the system shown in FIG. 2,the portion being in a first operational position;

FIG. 5 is an enlarged view of the portion of the system shown in FIG. 4,the portion being in a second operational position;

FIG. 6 is a schematic illustration of a portion of the system shown inFIG. 2, the portion being in a first operational mode;

FIG. 7 is a schematic illustration of the portion of the system shown inFIG. 6, the portion being in a second operational mode; and

FIG. 8 is a schematic illustration of a portion of the turbomachineshown in FIG. 1 having the system shown in FIG. 3 positioned therein.

Unless otherwise indicated, the drawings provided herein are meant toillustrate features of embodiments of this disclosure. These featuresare believed to be applicable in a wide variety of systems comprisingone or more embodiments of this disclosure. As such, the drawings arenot meant to include all conventional features known by those ofordinary skill in the art to be required for the practice of theembodiments disclosed herein.

DETAILED DESCRIPTION

In the following specification and the claims, reference will be made toa number of terms, which shall be defined to have the followingmeanings.

The singular forms “a”, “an”, and “the” include plural references unlessthe context clearly dictates otherwise.

“Optional” or “optionally” means that the subsequently described eventor circumstance may or may not occur, and that the description includesinstances where the event occurs and instances where it does not.

Approximating language, as used herein throughout the specification andclaims, may be applied to modify any quantitative representation thatcould permissibly vary without resulting in a change in the basicfunction to which it is related. Accordingly, a value modified by a termor terms, such as “about”, “approximately”, and “substantially”, are notto be limited to the precise value specified. In at least someinstances, the approximating language may correspond to the precision ofan instrument for measuring the value. Here and throughout thespecification and claims, range limitations may be combined and/orinterchanged, such ranges are identified and include all the sub-rangescontained therein unless context or language indicates otherwise.

Embodiments of the present disclosure relate to systems and a method foruse in performing maintenance within a confined space of a turbomachine,such as a turbine engine. In the exemplary embodiment, the systemsdescribed herein include a tubular assembly including a first tubularbody and a second tubular body. The second tubular body is sized forinsertion within the first tubular body. The first tubular body isrotatable relative to its longitudinal axis when positioned within theconfined space, and the second tubular body is rotatable andtranslatable relative to the first tubular body. In addition, the firstand second tubular bodies are each bendable between a neutral shape anda biased shape. The bodies are bent when in the neutral shape, such thata tip end of the second tubular body is selectively orientable inmultiple degrees of freedom by rotating one or both of the first andsecond tubular bodies. A steering cable extending from the tip end mayalso be used to bias the tip end for selective orientation in additionaldegrees of freedom. A payload may be coupled to the tip end. As such,the tubular assembly enables the payload to be maneuvered aroundobstacles within the turbine engine for positioning the payloadproximate a maintenance location. The payload may then perform anoperation at the maintenance location such as, but not limited to, aninspection operation. As such, the systems and method described hereinenable in-situ inspection of turbine engine components that arepositioned in confined or hard-to-reach locations.

FIG. 1 is a schematic diagram of an exemplary turbine engine 10 coupledto an airframe 11. Turbine engine 10 includes a fan assembly 12, alow-pressure or booster compressor assembly 14, a high-pressurecompressor assembly 16, and a combustor assembly 18. Fan assembly 12,booster compressor assembly 14, high-pressure compressor assembly 16,and combustor assembly 18 are coupled in flow communication. Turbineengine 10 also includes a high-pressure turbine assembly 20 coupled inflow communication with combustor assembly 18 and a low-pressure turbineassembly 22. Fan assembly 12 includes an array of fan blades 24extending radially outward from a rotor disk 26. Low-pressure turbineassembly 22 is coupled to fan assembly 12 and booster compressorassembly 14 through a first drive shaft 28, and high-pressure turbineassembly 20 is coupled to high-pressure compressor assembly 16 through asecond drive shaft 30. Turbine engine 10 has an inlet 32 and a coreexhaust 34. Turbine engine 10 further includes a centerline 36 aboutwhich fan assembly 12, booster compressor assembly 14, high-pressurecompressor assembly 16, and turbine assemblies 20 and 22 rotate.

In operation, some of the air entering turbine engine 10 through inlet32 is channeled through fan assembly 12 towards booster compressorassembly 14. Compressed air is discharged from booster compressorassembly 14 towards high-pressure compressor assembly 16. Highlycompressed air is channeled from high-pressure compressor assembly 16towards combustor assembly 18, mixed with fuel, and the mixture iscombusted within combustor assembly 18. High temperature combustion gasgenerated by combustor assembly 18 is channeled through turbineassemblies 20 and 22. Combustion gas is subsequently discharged fromturbine engine 10 via core exhaust 34 and a fan exhaust 38.

FIG. 2 is a box diagram illustrating an exemplary turbine engine 10 andsystem 100 that may be used to deliver a payload within turbine engine10. In the exemplary embodiment, turbine engine 10 further includes anouter case 102 having an access point 104 defined therein. For example,turbine engine 10 may be at least partially disassembled while coupledto airframe 11 (shown in FIG. 1) to define access point 104. Exampleaccess points may include, but are not limited to, borescope ports,ignitor ports, and the like. Access point 104 provides access to aconfined space 106 and to an attachment point 108 within turbine engine10. Confined space 106 is defined by components of turbine engine 10, aswill be described in more detail below, and includes a maintenancelocation 110 in which an operation is to be performed.

System 100 is positionable within confined space 106 to facilitateperforming the maintenance operation at maintenance location 110. Forexample, system 100 may be routed from exterior of outer case 102,through access point 104, and through turbine engine 10 to be positionedwithin confined space 106. In some embodiments, system 100 is coupleableto attachment point 108 to facilitate positioning and stabilizing system100 within turbine engine 10, and for enabling performance of theoperation by system 100 within confined space 106. In the exemplaryembodiment, attachment point 108 is defined by blades 112 within turbineengine 10. As will be described in more detail below, system 100 couplesto attachment point 108 by being mounted directly to one of blades 112,or by wedging itself between adjacent blades 112, for example.

FIG. 3 is a perspective illustration of system 100. In the exemplaryembodiment, system 100 includes a guide tube 114, a tubular assembly116, and a payload 118 coupled to tubular assembly 116. Guide tube 114has a first portion 120, a second portion 122 having an open end 124,and an interior 126 extending through first portion 120 and secondportion 122. First portion 120 and second portion 122 are orientedobliquely or perpendicularly relative to each other to enable guide tube114 to be selectively oriented in multiple directions when being routedthrough turbine engine 10. Tubular assembly 116 is sized for insertionwithin, for deployment from, interior 126 of guide tube 114. Forexample, as shown in FIG. 3, tubular assembly 116 is deployed from guidetube 114 for extension from open end 124.

Alternatively, tubular assembly 116 is partially or fully retractablewithin interior 126 of guide tube 114. As noted above, system 100, andmore specifically tubular assembly 116, is positionable within confinedspace 106 (shown in FIG. 2) to facilitate positioning payload 118proximate maintenance location 110 (shown in FIG. 2). In operation,tubular assembly 116 is routed through turbine engine 10 towardsconfined space 106 while at least partially retracted within guide tube114. As such, tubular assembly 116 is routable through turbine engine 10in a controlled and predictable manner. For example, guide tube 114 is arigid structure having a predetermined shape, whereas tubular assembly116 has a naturally bent shape when deployed from guide tube 114. Inaddition, in one embodiment, guide tube 114 has a diameter of less thanabout 1 inch, which enables guide tube 114 to be routable through tightspaces within turbine engine 10.

Tubular assembly 116 includes a first tubular body 128 and a secondtubular body 130. First tubular body 128 has an interior channel 132,and second tubular body 130 is translatable and rotatable withininterior channel 132. First tubular body 128 and second tubular body 130are fabricated from a flexible material such as, but not limited to, asuperelastic material such as nitinol, or a polymeric material. As such,first tubular body 128 and second tubular body 130 are bendable betweena neutral shape and a biased shape. The biased shape is formed when abiasing force is applied to first tubular body 128 and/or second tubularbody 130, and the neutral shape is formed when the biasing force isremoved therefrom. In one embodiment, the biasing force is applied bysecond portion 122 of guide tube 114 when first tubular body 128 andsecond tubular body 130 are retracted therein. The neutral shape isformed when first tubular body 128 is deployed from guide tube 114 by apredetermined distance, and when second tubular body 130 is deployedfrom first tubular body 128 by a predetermined distance. For example,first tubular body 128 includes a first section 134, a second section136, and a first bend 138 defined therebetween such that first section134 and second section 136 are oriented obliquely or perpendicularlyrelative to each other when in the neutral shape. Second tubular body130 includes a first section 140, a second section 142, and a secondbend 144 defined therebetween such that first section 140 and secondsection 142 are oriented obliquely or perpendicularly relative to eachother when in the neutral shape.

Second tubular body 130 includes a tip end 146, and payload 118 iscoupled to tip end 146. Payload 118 is any device, mechanism, or objectthat enables system 100 to maintain turbine engine 10, such as atmaintenance location 110. Example payloads include, but are not limitedto, a sensor, such as an eddy current sensor, a repair tool, a dispensetool (e.g., a spray or paste dispenser), and the like. In the exemplaryembodiment, system 100 also includes a camera 148 coupled to tip end146. Camera 148 is operable to provide real-time visual feedback to anoperator, for example, to facilitate routing tubular assembly system 100through turbine engine 10, and to facilitate positioning payload 118proximate maintenance location 110.

System 100 also includes an anchoring mechanism 150 coupled to tubularassembly 116. Anchoring mechanism 150 is any device that enables tubularassembly 116 to be coupled to attachment point 108 within turbine engine10 (both shown in FIG. 2). For example, anchoring mechanism 150 maycouple tubular assembly 116 to attachment point 108 with a physicalattachment, such as a clamp, or with a suction attachment. In theexemplary embodiment, anchoring mechanism 150 is an inflatable membrane152 that selectively receives fluid, such as air, therein. Inflatablemembrane 152 is deflated when tubular assembly 116 is retracted withinguide tube 114, and is selectively inflatable when tubular assembly 116is deployed from guide tube 114. When inflated, inflatable membrane 152is sized to wedge itself between adjacent blades 112 (shown in FIG. 2),defining attachment point 108 to facilitate stabilizing tubular assembly116 within confined space 106 (shown in FIG. 2).

In operation, first tubular body 128 and second tubular body 130 arerotatable to selectively orient tip end 146 in multiple degrees offreedom. For example, when deployed, first tubular body 128 is rotatablerelative to a first rotational axis 154, and second tubular body 130 isrotatable relative to a second rotational axis 156. First rotationalaxis 154 and second rotational axis 156 are oriented obliquely orperpendicularly relative to each other. In addition, in one embodiment,second tubular body 130 is dependently rotatable with first tubular body128, and is independently rotatable relative to first tubular body 128.As such, the orientation of tip end 146 is selected based on therotation of first tubular body 128 and second tubular body 130.

FIG. 4 is an enlarged view of a portion of system 100 (shown in FIG. 2),the portion being in a first operational position, and FIG. 5 is anenlarged view of the portion being in a second operational position. Inthe exemplary embodiment, system 100 includes a steering cable 158extending from tip end 146 of second tubular body 130. Steering cable158 may be used to bias tip end 146 for selective orientation inadditional degrees of freedom. For example, in operation, steering cable158 is pullable in a pulling direction to provide a biasing force 160 totip end 146. The biasing force facilitates further bending secondtubular body 130 relative to the neutral shape (shown in FIG. 4). Insome embodiments, system 100 may include more than one steering cable158, connected at the same or different longitudinal locations of secondtubular body 130, to bias tip end 146.

In the exemplary embodiment, second tubular body 130 includes aplurality of slots 162. The plurality of slots 162 are positioned in alocation along second tubular body 130 that facilitates the selectiveorientation of tip end 146 in the additional degrees of freedom. Slots162 facilitate decreasing the stiffness of select regions of secondtubular body 130 to enable second tubular body 130 to be elasticallybendable upon application of tensile biasing force 160 via steeringcable 158. Thus, slots 162 are positioned proximate tip end 146 tofacilitate selectively orientating tip end 146 by pulling steering cable158 with varying force.

FIG. 6 is a schematic illustration of a portion of system 100 (shown inFIG. 2), the portion being in a first operational mode, and FIG. 7 is aschematic illustration of the portion being in a second operationalmode. In the exemplary embodiment, first tubular body 128 includes afirst longitudinal section 164 and a second longitudinal section 166,and second tubular body 130 includes a first longitudinal section 168and a second longitudinal section 170. First longitudinal sections 164and 168 are selectively detachable from second longitudinal sections 166and 170. For example, an attachment mechanism 172 is coupled betweenfirst longitudinal section 164 and second longitudinal section 166.Attachment mechanism 172 may be any mechanism that enables system 100 tofunction as described herein. For example, attachment mechanism 172 iscapable of holding first longitudinal section 164 and secondlongitudinal section 166 together with a retaining force, releasingfirst longitudinal section 164 from second longitudinal section 166 whena force greater than the retaining force is applied, and then enablingre-attachment of first longitudinal section 164 and second longitudinalsection 166 at a later time. Example attachment mechanisms 172 include,but are not limited to, a magnet and cables. In one embodiment,attachment mechanism 172 includes a first magnet pair 174 coupledbetween first longitudinal section 164 and second longitudinal section166, and a second magnet pair 176 coupled between first longitudinalsection 168 and second longitudinal section 170.

FIG. 8 is a schematic illustration of a portion of the turbine engine 10having system 100 positioned therein. In the exemplary embodiment,turbine engine 10 is partially disassembled to provide access toconfined space 106 within turbine engine 10. As described above,confined space 106 is at least partially defined by components ofturbine engine 10, and may include maintenance location 110 in which anoperation is to be performed. System 100 is positioned within confinedspace 106 to facilitate performing an operation at maintenance location110. For example, system 100 is routed from access point 104 and throughturbine engine 10 for positioning within confined space 106. Anchoringmechanism 150 is used to couple tubular assembly 116 to attachment point108. The orientation of tubular assembly 116 may then be selectivelymodified, as described above, to facilitate positioning payload 118(shown in FIG. 3) proximate maintenance location 110. Payload 118 maythen perform an operation at maintenance location 110. For example, whenpayload 118 is a sensor, payload 118 may be used to detect potentialdamage to components at maintenance location 110.

In the exemplary embodiment, anchoring mechanism 150 facilitatescoupling tubular assembly 116 to blades 112 of turbine engine 10, andtubular assembly 116 is oriented to extend in a substantially radialdirection relative to centerline 36 to reach maintenance location 110.However, tubular assembly 116 is orientatable in any direction relativeto centerline 36. In one embodiment, tubular assembly 116 is anchored ona rotor of turbine engine 10, and the rotor is turned tocircumferentially position tubular assembly 116 proximate to maintenancelocation 110, positioned at a different circumferential locationrelative to centerline 36. In such an embodiment, second longitudinalsections 166 and 170 detach from first longitudinal sections 164 and168, and travel with the rotating stage as it is rotated. Thus, system100 may be used to deliver payload 118 and/or perform maintenance withinturbine engine 10 without having to remove and then re-route system 100through turbine engine 10.

An exemplary technical effect of the systems and methods describedherein includes at least one of: (a) enabling in-situ delivery of amaintenance payload within a turbine engine; (b) increasing theaccessibility of difficult-to-reach locations within a turbine assemblyfor inspection and/or in-situ repair; (c) reducing the time that turbineengines are out of service for maintenance; and (d) reducing unplannedservice outages for a turbine engine.

Exemplary embodiments of methods and systems for use in delivering amaintenance payload within turbine engines are not limited to thespecific embodiments described herein, but rather, components of systemsand/or steps of the methods may be utilized independently and separatelyfrom other components and/or steps described herein. For example, themethods and systems may also be used in combination with other systemsrequiring inspection and/or repair of components, and are not limited topractice with only the systems and methods as described herein. Rather,the exemplary embodiment can be implemented and utilized in connectionwith many other applications, equipment, and systems that may benefitfrom using a service apparatus for inspection and/or repair.

Although specific features of various embodiments of the disclosure maybe shown in some drawings and not in others, this is for convenienceonly. In accordance with the principles of the disclosure, any featureof a drawing may be referenced and/or claimed in combination with anyfeature of any other drawing.

This written description uses examples to disclose the embodiments,including the best mode, and also to enable any person skilled in theart to practice the embodiments, including making and using any devicesor systems and performing any incorporated methods. The patentable scopeof the disclosure is defined by the claims, and may include otherexamples that occur to those skilled in the art. Such other examples areintended to be within the scope of the claims if they have structuralelements that do not differ from the literal language of the claims, orif they include equivalent structural elements with insubstantialdifferences from the literal language of the claims.

What is claimed is:
 1. A system for use in servicing a turbomachine, thesystem comprising: a first tubular body comprising an interior channel,wherein the first tubular body is bendable between a neutral shape or abiased shape, the first tubular body being bent when in the neutralshape; a second tubular body comprising a tip end, wherein the secondtubular body is translatable within the interior channel, and isbendable between a neutral shape and a biased shape, the second tubularbody being bent when in the neutral shape, wherein the first tubularbody and the second tubular body are rotatable to selectively orient thetip end in multiple degrees of freedom; and a steering cable extendingfrom the tip end, wherein the steering cable is configured to bias thetip end for selective orientation in additional degrees of freedom. 2.The system in accordance with claim 1, wherein the second tubular bodyis dependently rotatable with the first tubular body, and isindependently rotatable relative to the first tubular body.
 3. Thesystem in accordance with claim 1, wherein the second tubular bodyfurther comprises a plurality of slots defined therein, the plurality ofslots positioned in a location along the second tubular body thatfacilitates the selective orientation of the tip end in the additionaldegrees of freedom.
 4. The system in accordance with claim 1, whereinthe first tubular body and the second tubular body each comprise a firstlongitudinal section and a second longitudinal section that areselectively detachable from each other.
 5. The system in accordance withclaim 1 further comprising an anchoring mechanism configured to couplethe first tubular body to an attachment point within the turbomachine.6. The system in accordance with claim 1 further comprising a cameracoupled to the tip end of the second tubular body.
 7. The system inaccordance with claim 1, wherein at least one of the first tubular bodyand the second tubular body are fabricated from a superelastic material.8. A system for use in servicing a turbomachine, the system comprising:a guide tube comprising an interior; a tubular assembly sized forinsertion within, and deployable from, the interior of the guide tube,the tubular assembly comprising: a first tubular body comprising aninterior channel, wherein the first tubular body is bendable between aneutral shape or a biased shape, the first tubular body being bent whenin the neutral shape; and a second tubular body comprising a tip end,wherein the second tubular body is translatable within the interiorchannel, and is bendable between a neutral shape and a biased shape, thesecond tubular body being bent when in the neutral shape, wherein thefirst tubular body and the second tubular body are rotatable toselectively orient the tip end in multiple degrees of freedom; asteering cable extending from the tip end, wherein the steering cable isconfigured to bias the tip end for selective orientation in additionaldegrees of freedom; and a payload coupled to the tip end.
 9. The systemin accordance with claim 8, wherein the guide tube has a diameter ofless than about 1 inch.
 10. The system in accordance with claim 8,wherein the second tubular body is dependently rotatable with the firsttubular body, and is independently rotatable relative to the firsttubular body.
 11. The system in accordance with claim 8, wherein thesecond tubular body further comprises a plurality of slots definedtherein, the plurality of slots positioned in a location along thesecond tubular body that facilitates the selective orientation of thetip end in the additional degrees of freedom.
 12. The system inaccordance with claim 8, wherein the first tubular body and the secondtubular body each comprise a first longitudinal section and a secondlongitudinal section that are selectively detachable from each other.13. The system in accordance with claim 8 further comprising ananchoring mechanism configured to couple the first tubular body and thesecond tubular body to an attachment point within the turbomachine. 14.The system in accordance with claim 8, wherein at least one of the firsttubular body and the second tubular body are fabricated from asuperelastic material.
 15. A method of servicing a turbomachine, themethod comprising: providing access to a confined space within theturbomachine, wherein the confined space includes a maintenancelocation; positioning a tubular assembly within the confined space, thetubular assembly including: a first tubular body having an interiorchannel, the first tubular body being bent when in a neutral shape; anda second tubular body having a tip end, wherein the second tubular bodyis translatable within the interior channel, the second tubular bodybeing bent when in a neutral shape, wherein a payload is coupled to thetip end; rotating at least one of the first tubular body and the secondtubular body to selectively orient the tip end in multiple degrees offreedom to position the payload proximate the maintenance location;biasing, with a steering cable, the tip end for selective orientation inadditional degrees of freedom to position the payload proximate themaintenance location; and performing a maintenance operation at themaintenance location with the payload.
 16. The method in accordance withclaim 15, wherein rotating at least one of the first tubular body andthe second tubular body comprises: selectively rotating the firsttubular body, wherein the second tubular body is dependently rotatablewith the first tubular body; and selectively rotating the second tubularbody independently of the first tubular body.
 17. The method inaccordance with claim 15, wherein the first tubular body and the secondtubular body each comprise a first longitudinal section and a secondlongitudinal section that are selectively detachable from each other,the method further comprising: positioning the tubular assembly within arotating stage of the turbomachine; anchoring the first longitudinalsection to an attachment point within the rotating stage; and rotatingthe rotating stage such that the first longitudinal section detachesfrom the second longitudinal section.
 18. The method in accordance withclaim 15, wherein providing access to a confined space comprisesdisassembling the machine.
 19. The method in accordance with claim 15,wherein providing access to a confined space comprises defining anaccess point in an outer case of the turbomachine, the method furthercomprising routing the tubular assembly from the access point andthrough the turbomachine for positioning within the confined space. 20.The method in accordance with claim 19, wherein guiding the tubularassembly comprises: routing a guide tube from the access point towardsthe confined space, wherein the guide tube contains the tubular assemblytherein; and deploying the tubular assembly from the guide tube into theconfined space.